Vince Kurtz, Patrick M. Wensing, Hai Lin 0002. Control Barrier Functions for Singularity Avoidance in Passivity-Based Manipulator Control. In 60th IEEE Conference on Decision and Control, CDC 2021, Austin, TX, USA, December 14-17, 2021. pages 6125-6130, IEEE, 2021. [doi]
Abstract is missing.